Journal article Open Access

Model-Based Reinforcement Learning for Closed-Loop Dynamic Control of Soft Robotic Manipulators

Thuruthel, Thomas George; Falotico, Egidio; Renda, Federico; Laschi, Cecilia


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  <dc:creator>Thuruthel, Thomas George</dc:creator>
  <dc:creator>Falotico, Egidio</dc:creator>
  <dc:creator>Renda, Federico</dc:creator>
  <dc:creator>Laschi, Cecilia</dc:creator>
  <dc:date>2018-11-12</dc:date>
  <dc:description>Dynamic control of soft robotic manipulators is an open problem yet to be well explored and analyzed. Most of the current applications of soft robotic manipulators utilize static or quasi-dynamic controllers based on kinematic models or linearity in the joint space. However, such approaches are not truly exploiting the rich dynamics of a soft-bodied system. In this paper, we present a model-based policy learning algorithm for closed-loop predictive control of a soft robotic manipulator. The forward dynamic model is represented using a recurrent neural network. The closed-loop policy is derived using trajectory optimization and supervised learning. The approach is verified first on a simulated piecewise constant strain model of a cable driven under-actuated soft manipulator. Furthermore, we experimentally demonstrate on a soft pneumatically actuated manipulator how closed-loop control policies can be derived that can accommodate variable frequency control and unmodeled external loads.</dc:description>
  <dc:identifier>https://zenodo.org/record/3759636</dc:identifier>
  <dc:identifier>10.1109/TRO.2018.2878318</dc:identifier>
  <dc:identifier>oai:zenodo.org:3759636</dc:identifier>
  <dc:rights>info:eu-repo/semantics/openAccess</dc:rights>
  <dc:rights>https://creativecommons.org/licenses/by/4.0/legalcode</dc:rights>
  <dc:title>Model-Based Reinforcement Learning for Closed-Loop Dynamic Control of Soft Robotic Manipulators</dc:title>
  <dc:type>info:eu-repo/semantics/article</dc:type>
  <dc:type>publication-article</dc:type>
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